Tyler Weaver / Mbed 2 deprecated 9Dof_unit_testing

Unit testing and development for 9DOF sparkfun sensor stick

Dependencies:   ADXL345 HMC5883L ITG3200 mbed

main.cpp@0:ac2f55940442, 2012-10-30 (annotated)

Committer:
tylerjw
Date:
Tue Oct 30 17:30:03 2012 +0000
Revision:
0:ac2f55940442
Child:
1:dc730a26cdc2
0.1 ITG3200 Thermal Drift Test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tylerjw 0:ac2f55940442 1 /**
tylerjw 0:ac2f55940442 2 10 second 9-dof data log
tylerjw 0:ac2f55940442 3
tylerjw 0:ac2f55940442 4 The purpose of this program is to demonstrate and calibrate the three
tylerjw 0:ac2f55940442 5 sensors on teh 9-doft board.
tylerjw 0:ac2f55940442 6
tylerjw 0:ac2f55940442 7 The first version of this software will test the ITG3200 gyro to find
tylerjw 0:ac2f55940442 8 the temperature drift line. Data will be logged to help determine the
tylerjw 0:ac2f55940442 9 thermal drift line.
tylerjw 0:ac2f55940442 10 See: http://mbed.org/users/gltest26/code/ITG3200/wiki/Thermal-Drift
tylerjw 0:ac2f55940442 11 */
tylerjw 0:ac2f55940442 12
tylerjw 0:ac2f55940442 13 #include "mbed.h"
tylerjw 0:ac2f55940442 14 #include "ITG3200.h"
tylerjw 0:ac2f55940442 15
tylerjw 0:ac2f55940442 16 int main()
tylerjw 0:ac2f55940442 17 {
tylerjw 0:ac2f55940442 18 DigitalOut myled(p24);
tylerjw 0:ac2f55940442 19 LocalFileSystem local("local"); // Create the local filesystem under the name "local"
tylerjw 0:ac2f55940442 20 ITG3200 gyro(p28, p27); // sda, scl - gyro
tylerjw 0:ac2f55940442 21 //const float offset[3] = {99.53, -45.26, -29.53}; // taken from itg3200_05.xls curve fit
tylerjw 0:ac2f55940442 22 //const float slope[3] = {-0.95, 0.95, 0.47};
tylerjw 0:ac2f55940442 23
tylerjw 0:ac2f55940442 24 //gyro.setCalibrationCurve(offset, slope);
tylerjw 0:ac2f55940442 25 //gyro.calibrate(1.0);
tylerjw 0:ac2f55940442 26 gyro.setLpBandwidth(LPFBW_5HZ);
tylerjw 0:ac2f55940442 27
tylerjw 0:ac2f55940442 28 Serial pc(USBTX, USBRX);
tylerjw 0:ac2f55940442 29
tylerjw 0:ac2f55940442 30 pc.baud(9600);
tylerjw 0:ac2f55940442 31
tylerjw 0:ac2f55940442 32 myled = 0;
tylerjw 0:ac2f55940442 33 FILE *fp = fopen("/local/itg3200.csv", "w"); // Open "itg3200.csv" for writing
tylerjw 0:ac2f55940442 34 fputs("Temp, X, Y, Z\r\n", fp); // place the header at the top
tylerjw 0:ac2f55940442 35
tylerjw 0:ac2f55940442 36 float temperature = 0.0;
tylerjw 0:ac2f55940442 37 int gyro_readings[3];
tylerjw 0:ac2f55940442 38
tylerjw 0:ac2f55940442 39 for(int i = 0; i < 120; i++) { // 120 seconds - 600 samples
tylerjw 0:ac2f55940442 40 myled = 1;
tylerjw 0:ac2f55940442 41 gyro.calibrate(1.0);
tylerjw 0:ac2f55940442 42 //wait(0.5);
tylerjw 0:ac2f55940442 43 myled = 0;
tylerjw 0:ac2f55940442 44 //gyro.getGyroXYZ(gyro_readings, ITG3200::Calibration);
tylerjw 0:ac2f55940442 45 gyro.getOffset(gyro_readings);
tylerjw 0:ac2f55940442 46 temperature = gyro.getTemperature();
tylerjw 0:ac2f55940442 47 pc.printf("%3d,%f,%d,%d,%d\r\n",i,temperature,gyro_readings[0],gyro_readings[1],gyro_readings[2]);
tylerjw 0:ac2f55940442 48 fprintf(fp, "%f,%d,%d,%d\r\n",temperature,gyro_readings[0],gyro_readings[1],gyro_readings[2]);
tylerjw 0:ac2f55940442 49 }
tylerjw 0:ac2f55940442 50 fclose(fp);
tylerjw 0:ac2f55940442 51 myled = 0;
tylerjw 0:ac2f55940442 52 }